Positioning method and device, electronic equipment, chip and storage medium

Abstract

The invention provides a positioning method and device, electronic equipment, a chip and a storage medium, and relates to the technical field of positioning, and the method comprises the steps: obtaining positioning measurement information between to-be-positioned equipment and anchor point equipment at a target moment; obtaining a candidate position of the to-be-positioned device at the target moment based on the positioning measurement information; based on a correlation degree between the candidate positions and a reference position of the to-be-positioned device at a first moment, determining the reference position of the to-be-positioned device at a target moment from the candidate positions, the first moment being before the target moment; and determining the target position of the to-be-positioned device according to the reference position of the to-be-positioned device at the target moment. By comparing the correlation degree between the candidate position and the reference position at the first moment, the candidate position more conforming to the moving track of the to-be-positioned device can be screened out, and then the accuracy of positioning the to-be-positioned device according to the reference position at the target moment is high.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a positioning method, device, electronic device, chip and storage medium. Background Art

[0002] Precision positioning technology is a key technology in the fields of robot navigation, indoor tracking and autonomous driving. Its core lies in accurately estimating the position of the target in the environment based on the data provided by the perception sensor, so that the target can interact correctly with the surrounding environment and sensors, so as to smoothly perform various functions and tasks. However, although the traditional anchor-based positioning method has a certain effect, its accuracy still needs to be improved. Summary of the invention

[0003] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0004] To this end, the present application proposes a positioning method, device, electronic device, chip and storage medium, so as to determine the reference position of the device to be positioned at the target moment from the candidate positions according to the correlation between the candidate position of the device to be positioned at the target moment and the reference position of the device to be positioned at the first moment, and then determine the target position of the device to be positioned according to the reference position at the target moment, so as to improve the accuracy of positioning.

[0005] In one aspect, an embodiment of the present application provides a positioning method, including:

[0006] Obtaining the positioning measurement information between the device to be positioned and the anchor device at the target time;

[0007] Based on the positioning measurement information, obtaining a candidate position of the device to be positioned at the target time;

[0008] Determine, from the candidate positions, a reference position of the device to be positioned at the target time based on a correlation between the candidate positions and a reference position of the device to be positioned at a first time, wherein the first time is before the target time;

[0009] The target position of the device to be positioned is determined according to the reference position of the device to be positioned at the target time.

[0010] Another aspect of the present application provides a positioning device, including:

[0011] A first acquisition module is used to acquire positioning measurement information between the device to be positioned and the anchor device at a target time;

[0012] A second acquisition module, configured to acquire a candidate position of the device to be located at the target time based on the positioning measurement information;

[0013] A first determination module, configured to determine a reference position of the device to be located at the target time from the candidate positions based on a correlation between the candidate positions and a reference position of the device to be located at a first time, wherein the first time is before the target time;

[0014] The second determining module is used to determine the target position of the device to be located according to the reference position of the device to be located at the target time.

[0015] Another aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method described in the above aspect is implemented.

[0016] Another aspect of the present application provides a chip, including a processing circuit, wherein the processing circuit is used to implement the method described in the above aspect when executed.

[0017] Another aspect of the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method described in the aforementioned aspect is implemented.

[0018] Another aspect of the present application provides a computer program product on which a computer program is stored. When the program is executed by a processor, the method described in the above aspect is implemented.

[0019] The positioning method, device, electronic device, chip and storage medium proposed in the present application obtain the positioning measurement information between the device to be positioned and the anchor device at the target moment; based on the positioning measurement information, obtain the candidate position of the device to be positioned at the target moment; based on the correlation between the candidate position and the reference position of the device to be positioned at the first moment, determine the reference position of the device to be positioned at the target moment from the candidate position, wherein the first moment is before the target moment; determine the target position of the device to be positioned according to the reference position of the device to be positioned at the target moment. By comparing the correlation between the candidate position and the reference position at the first moment, the candidate position that is more consistent with the moving trajectory of the device to be positioned can be screened out, and the position that is obviously deviated or unreasonable can be excluded, thereby locating the device to be positioned according to the reference position at the target moment with higher accuracy.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 A flowchart of a positioning method provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of a flow chart of another positioning method provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of a flow chart of another positioning method provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of a candidate position provided in an embodiment of the present application;

[0026] Figure 5 A schematic diagram of another candidate position provided in an embodiment of the present application;

[0027] Figure 6 A schematic diagram of the structure of a positioning device provided in an embodiment of the present application;

[0028] Figure 7 A block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0030] The positioning method, device, electronic device, chip and storage medium of the embodiments of the present application are described below with reference to the accompanying drawings. Among them, the present application can be applied to single anchor point positioning scenarios, such as indoor positioning and robot navigation; for example, indoor positioning scenarios include finding a car in a complex underground garage through mobile phone Bluetooth or ultra-wideband (Ultra Wide Band, UWB), and positioning and pointing in a large shopping mall through a wireless access point (Wireless Access Point, WIFIAP) or Bluetooth AP; robot navigation scenarios include positioning between a sweeping robot and a base station, positioning between a drone and a drone remote controller, and autonomous flying in and out of a drone at a fixed point.

[0031] In the related art, the single anchor point positioning solution is to obtain the arrival angle and ranging information through the array antenna configured on the anchor point, and combine the arrival angle and ranging information to achieve accurate positioning of the device to be positioned. However, this solution requires the anchor point to be configured with an array antenna, which is costly. Another single anchor point positioning solution is to move the device to be positioned to three points in sequence to obtain ranging information and speed information, and solve the equation by the three-point positioning method to obtain the position of the device to be positioned. However, this solution is prone to ill-conditioned equations when solving equations when the distance or speed measurement error is large, and the positioning result is poor.

[0032] Figure 1 A flowchart of a positioning method provided in an embodiment of the present application.

[0033] The embodiment of the present application uses the positioning method configured in the positioning device as an example, and the positioning device can be applied to an electronic device so that the electronic device can execute the command processing function. It should be noted that the electronic device refers to a device that can obtain positioning measurement information and perform positioning based on the positioning measurement information. For example, in a complex underground garage, in the scenario of finding a car through mobile phone Bluetooth or UWB, the electronic device refers to a mobile phone; in the positioning scenario between a sweeping robot and a base station, the electronic device refers to a base station.

[0034] like Figure 1 As shown, the method may include the following steps:

[0035] Step 101: Acquire positioning measurement information between the device to be positioned and the anchor device at a target time.

[0036] The target time includes any time except the starting positioning time; the device to be positioned is equipped with a perception sensor such as an inertial measurement unit (IMU); the anchor device refers to a node placed in an environment with a known global position, and the position of the anchor device may be known or unknown; the positioning measurement information at the target time is obtained by measuring the perception sensor at the target time, or is estimated based on the positioning measurement information corresponding to the time before the target time.

[0037] In an implementation manner of the embodiment of the present application, the positioning measurement information includes a distance measurement result between the device to be positioned and the anchor device and a speed measurement result of the device to be positioned relative to the anchor device.

[0038] In another implementation manner of the embodiment of the present application, the positioning measurement information includes an angle of arrival (Angle of Arrival, AOA) and a time of arrival (Time of Arrival, TOA).

[0039] Step 102: Based on the positioning measurement information, a candidate position of the device to be positioned at a target time is obtained.

[0040] The candidate location refers to the possible location of the device to be located at the target time.

[0041] In one implementation of the embodiment of the present application, when the position of the anchor device is known, the positioning measurement information and the position of the anchor device are input into a candidate position prediction model to obtain the candidate position of the device to be positioned at the target time.

[0042] In another implementation of the embodiment of the present application, when the position of the anchor device is unknown, a position solution is performed based on positioning measurement information, such as speed measurement results and distance measurement results, to obtain a candidate position of the device to be positioned at the target time.

[0043] Step 103: determining the reference position of the device to be positioned at a target time from the candidate positions based on the correlation between the candidate positions and the reference position of the device to be positioned at a first time, wherein the first time is before the target time.

[0044] The first moment refers to any moment before the target moment; in order to ensure the accuracy of positioning, as an example, the first moment refers to the moment before the target moment.

[0045] The correlation degree between the positions is used to indicate the probability that the device to be positioned moves from the reference position at the first moment to the candidate position. The higher the correlation degree, the greater the possibility that the device to be positioned moves from the reference position at the first moment to the candidate position.

[0046] Among them, the reference position of the device to be located at the target time refers to at least one position where the device to be located is most likely to be located at the target time, which is inferred after comprehensively considering the correlation between positions. This position is an important reference basis for locating the device to be located.

[0047] Step 104: determining a target position of the device to be positioned according to the reference position of the device to be positioned at the target time.

[0048] In one implementation of the embodiment of the present application, the reference position of the device to be positioned at the target time is input into the positioning model to obtain the target position of the device to be positioned.

[0049] It should be noted that, when the positioning measurement information includes distance measurement results and speed measurement results, the present application can realize accurate positioning of the device to be positioned in combination with the reference position of the device to be positioned at the target time, without the need for the anchor device to be configured with an array antenna. In addition, the present application does not need to solve equations using the three-point positioning method, and no ill-conditioned equations will occur.

[0050] In the positioning method of the embodiment of the present application, the positioning measurement information between the device to be positioned and the anchor device at the target moment is obtained; based on the positioning measurement information, the candidate position of the device to be positioned at the target moment is obtained; based on the correlation between the candidate position and the reference position of the device to be positioned at the first moment, the reference position of the device to be positioned at the target moment is determined from the candidate position, wherein the first moment is before the target moment; the target position of the device to be positioned is determined according to the reference position of the device to be positioned at the target moment. By comparing the correlation between the candidate position and the reference position at the first moment, the candidate position that is more consistent with the moving trajectory of the device to be positioned can be screened out, and the position that is obviously deviated or unreasonable can be excluded, thereby locating the device to be positioned according to the reference position at the target moment with higher accuracy.

[0051] Based on the above embodiments, Figure 2 A flow chart of another positioning method provided in an embodiment of the present application is shown as follows: Figure 2 As shown, the method comprises the following steps:

[0052] Step 201: Acquire positioning measurement information between the device to be positioned and the anchor device at a target time. The positioning measurement information includes a speed measurement result of the device to be positioned relative to the anchor device at the target time.

[0053] The velocity measurement result refers to the two-dimensional velocity in the plane (v x ,v y ) or the three-dimensional velocity in space (v x ,v y ,v z ), where v x represents the velocity component on the X-axis in the coordinate system, v y represents the velocity component on the Y axis in the coordinate system, v z Represents the velocity component on the Z axis in the coordinate system.

[0054] In the embodiment of the present application, the speed measurement result at the target time t is recorded as v r (t), then:

[0055] or

[0056] Among them, taking the two-dimensional plane as an example, (x(t), y(t)) represents the position of the device to be located relative to the anchor device at the target time t. represents the derivative of x(t), represents the derivative of y(t).

[0057] Step 202: Acquire a candidate position of the device to be positioned at a target time based on the positioning measurement information.

[0058] The relevant explanations in the aforementioned embodiment are also applicable to step 102, and the principle is the same, which will not be repeated here.

[0059] Step 203, for any reference position at the first moment, determine the position vector between it and the candidate position at the target moment; determine the velocity vector based on the velocity measurement result; perform similarity calculation on the position vector and the velocity vector to obtain the degree of correlation; and determine the reference position from the candidate positions based on the degree of correlation.

[0060] In the embodiment of the present application, taking a two-dimensional space as an example, assuming that the position of the anchor device is the coordinate origin (0,0), and the position of the device to be positioned at the target time is (x(t), y(t)), then the candidate position of the device to be positioned relative to the anchor device at the target time is represented by p(t), The reference position at the first moment is represented by p(t-1), and the position vector is d(t)=p(t)-p(t-1). In addition, the velocity vector in the embodiment of the present application is v r (t).

[0061] In one implementation of the embodiment of the present application, the similarity between the position vector and the velocity vector is calculated using the following formula:

[0062]

[0063] Where corr represents the degree of correlation, |d(t)| represents the modulus of the position vector, |v r (t)| represents the magnitude of the velocity vector, v r (t) T represents the velocity vector v r The transpose of (t).

[0064] It should be noted that the correlation degree may also be determined in other ways, for example, by determining the Pearson correlation coefficient between the position vector and the velocity vector, and determining the correlation degree based on the Pearson correlation coefficient.

[0065] In one implementation of the embodiment of the present application, the candidate positions with a correlation degree greater than a set correlation degree threshold can be used as the reference position of the device to be located at the target time, or the candidate positions at the target time are sorted based on the correlation degree, and the reference position of the device to be located at the target time is determined from the candidate positions based on the sorting result.

[0066] In an embodiment of the present application, a reference position at a target time is stored, wherein the reference position at the target time is used to locate the device to be located at a second time, and the second time is located after the target time.

[0067] The second moment refers to any moment after the target moment. As an example, the second moment refers to the next moment of the target moment. The reference position of the stored target moment is used to determine the reference position of the device to be positioned at the second moment.

[0068] In an embodiment of the present application, a reference position of the device to be positioned at the first moment is read; wherein the reference position at the first moment is obtained by screening the candidate positions at the first moment based on the correlation between the candidate positions of the device to be positioned at the first moment and the reference position of the device to be positioned before the first moment, or the reference position at the first moment is obtained by storing the reference position of the device to be positioned at the first moment.

[0069] Among them, when the first moment is the starting positioning moment, the reference position at the first moment is obtained by storing the reference position of the device to be positioned at the first moment; when the first moment is not the starting positioning moment, the reference position at the first moment is obtained by screening the candidate position of the device to be positioned at the first moment based on the degree of correlation between the candidate position of the device to be positioned at the first moment and the reference position of the device to be positioned before the first moment.

[0070] Step 204: Determine the target position of the device to be positioned according to the reference position of the device to be positioned at the target time.

[0071] In one implementation of the embodiment of the present application, based on the degree of correlation, a target reference position is determined from the reference positions of the device to be located at the target time; and the target position of the device to be located is determined according to the target reference position. The target reference position refers to the reference position corresponding to the maximum value of the degree of correlation among the reference positions at the target time.

[0072] In the positioning method of the embodiment of the present application, the positioning measurement information between the device to be positioned and the anchor device at the target moment is obtained, and the positioning measurement information includes the speed measurement result of the device to be positioned relative to the anchor device at the target moment; based on the positioning measurement information, the candidate position of the device to be positioned at the target moment is obtained; for any reference position at the first moment, the position vector between the reference position and the candidate position at the target moment is determined; based on the speed measurement result, the speed vector is determined; the similarity between the position vector and the speed vector is calculated to obtain the degree of correlation; based on the degree of correlation, the reference position is determined from the candidate positions; according to the reference position of the device to be positioned at the target moment, the target position of the device to be positioned is determined. The position vector reflects the spatial relationship between the reference position and the candidate position, and the speed vector reflects the moving direction and speed of the device to be positioned within a period of time. The degree of correlation between the positions is obtained based on these two vectors, which not only considers the proximity of the spatial position, but also considers the continuity and consistency of the movement of the device to be positioned. Therefore, based on the degree of correlation, a suitable reference position can be screened out from the candidate positions, thereby providing a reliable basis for the positioning task, improving the accuracy of positioning, and reducing positioning errors.

[0073] Based on the above embodiments, Figure 3 A flow chart of another positioning method provided in an embodiment of the present application is shown as follows: Figure 3 As shown, the method comprises the following steps:

[0074] Step 301: Acquire positioning measurement information between the device to be positioned and the anchor device at a target time, where the measurement information includes a speed measurement result of the device to be positioned and a distance measurement result between the device to be positioned and the anchor device.

[0075] The distance measurement result is used to indicate the distance between the device to be positioned and the anchor device. Taking two-dimensional space as an example, the distance measurement result at the target time t is

[0076] Step 302: Obtain positioning statistical data and a positioning error at a first moment, where the positioning statistical data is used to indicate at least one of the number of positionings completed and the duration of continuous positioning of the device to be positioned.

[0077] In one implementation of the embodiment of the present application, the positioning statistical data includes the number of positionings completed and the continuous positioning duration of the device to be positioned.

[0078] In another implementation of the embodiment of the present application, the positioning statistical data includes the number of positionings completed or the continuous positioning duration of the device to be positioned.

[0079] In the embodiment of the present application, the positioning error at the first moment refers to the error between the target position of the device to be positioned at the first moment and the target reference position.

[0080] Step 303: When the positioning statistics data and the positioning error meet the first set condition, based on the distance measurement result and the position of the anchor device, obtain N candidate positions of the device to be positioned at the target time.

[0081] Among them, the first set condition includes at least one of the positioning statistical data being less than the set data threshold and the positioning error being greater than the set error threshold, the distance between the candidate position and the anchor device matches the distance measurement result, and N is a positive integer.

[0082] It should be noted that the N value can be a set value or can be determined according to the size of the positioning error. The larger the positioning error, the larger the N value.

[0083] As an example, when the positioning statistical data is less than a set data threshold and the positioning error is greater than a set error threshold, N candidate positions of the device to be positioned at the target time are obtained.

[0084] In the embodiment of the present application, the positioning statistics and positioning error meet the first setting condition, indicating that the positioning task is in the early stage, and / or the anchor signal perceived by the device to be positioned is weak due to the complex environment or the long distance from the anchor device. In this case, the error of positioning based on the anchor signal is large, and the present application provides more references and options for subsequent positioning optimization and error correction by providing multiple candidate positions, which helps to improve the probability and accuracy of successful positioning.

[0085] As an example, N candidate positions are selected on a rectangle or triangle centered at the position of the anchor device.

[0086] As another example, on a circle with the position of the anchor device as the center and the distance measurement result as the radius, N candidate positions are obtained according to a set position selection rule. The set position selection rule is to evenly select N candidate positions on the circle, or to select N candidate positions on the circle according to a specific angle interval.

[0087] like Figure 4 As shown, Figure 4 A schematic diagram of candidate positions provided in an embodiment of the present application, in which Anchor represents the position of the anchor device, Target on the outer circle represents N candidate positions of the device to be positioned at the target time t, and Target on the inner circle represents one of the reference positions of the device to be positioned at the first time, i.e., time t-1.

[0088] The circle is continuous and smooth. Selecting candidate positions on the circle can significantly improve the ability to capture the continuity and consistency of the moving trajectory of the device to be positioned during the positioning process, ensuring that the selected candidate positions not only meet the constraints of spatial distance, but also can reflect the movement trend and speed change of the device to be positioned to a certain extent, thereby avoiding sudden changes in the positioning results of the device to be positioned.

[0089] Step 304: When the positioning statistical data and the positioning error meet the second set condition, a position solution is performed based on the speed measurement result and the distance measurement result to obtain a candidate position of the device to be positioned at the target time.

[0090] The second set condition includes at least one of the positioning statistical data being greater than or equal to a set data threshold and the positioning error being less than or equal to a set error threshold.

[0091] As an example, when the positioning statistical data is greater than or equal to the set data threshold, or the positioning error is less than or equal to the set error threshold, the position is solved based on the speed measurement results and the distance measurement results to obtain the candidate position of the device to be positioned at the target time.

[0092] The positioning statistics and positioning error meet the second set condition, indicating that the positioning task has progressed to a certain stage, that is, it is not in the initial stage, and / or the anchor point signal perceived by the device to be positioned is strong. At this time, the speed measurement result and the distance measurement result can be combined to solve the candidate position of the device to be positioned at the target time.

[0093] When the positioning statistics and the positioning error meet the second set condition, the anchor point signal perceived by the device to be positioned is strong. At this time, a more accurate candidate position can be obtained based on the perceived speed measurement result and distance measurement result.

[0094] In one implementation of the embodiment of the present application, the arrival angle corresponding to the device to be positioned is determined based on the speed measurement result and the distance measurement result; the angle between the movement direction of the device to be positioned and the set direction is determined based on the speed measurement result; based on the distance measurement result, the arrival angle and the angle, the position is solved by trigonometric functions to obtain the candidate position of the device to be positioned at the target time.

[0095] As an example, the arrival angle θ(t), the included angle α(t) and the candidate position p(t) are determined by the following formula:

[0096]

[0097] like Figure 5 As shown, Figure 5 A schematic diagram of the candidate positions adopted by the embodiment of the present application, according to Figure 5It can be seen that by solving the position based on the speed measurement results and the distance measurement results, two candidate positions of the device to be positioned at the target time can be obtained.

[0098] Step 305: Determine the reference position of the device to be positioned at the target time from the candidate positions based on the correlation between the candidate positions and the reference position of the device to be positioned at the first time.

[0099] In an embodiment of the present application, when the positioning statistical data and the positioning error meet the first set condition, M reference positions can be selected from N candidate positions based on the degree of correlation, where M is a positive integer less than N; when the positioning statistical data and the positioning error meet the second set condition, one reference position can be selected from the two candidate positions obtained by solution based on the degree of correlation, or the two candidate positions obtained by solution can be used as reference positions.

[0100] Step 306: Determine the target position of the device to be positioned according to the reference position of the device to be positioned at the target time.

[0101] In one implementation of an embodiment of the present application, based on the degree of correlation, a target reference position is obtained from the reference position at the target moment; the target position of the device to be located at the first moment is obtained; based on the positioning measurement information, the target reference position and the target position at the first moment, a filtering algorithm is set to determine the target position of the device to be located.

[0102] In the embodiment of the present application, on the one hand, using the positioning measurement information, the target reference position and the target position at the first moment as the positioning basis helps to improve the accuracy of positioning; on the other hand, by setting the filtering algorithm, noise and errors can be effectively filtered out, thereby achieving accurate tracking and positioning of the device to be positioned.

[0103] Among them, the positioning measurement information, the target reference position and the target position at the first moment can be input into the Kalman filter equation, and the target position of the device to be positioned can be determined by the filtering algorithm corresponding to the Kalman filter equation. It should be noted that the Kalman filter equation can also output the positioning error at the target moment.

[0104] In the positioning method of the embodiment of the present application, positioning statistics data and positioning error at the first moment are obtained, and the positioning statistics data are used to indicate at least one of the number of positioning times and the continuous positioning duration of the device to be positioned; when the positioning statistics data and the positioning error meet the first set condition, based on the distance measurement result and the position of the anchor device, N candidate positions of the device to be positioned at the target moment are obtained; when the positioning statistics data and the positioning error meet the second set condition, based on the speed measurement result and the distance measurement result, the position is solved to obtain the candidate position of the device to be positioned at the target moment; based on the correlation between the candidate position and the reference position of the device to be positioned at the first moment, the reference position of the device to be positioned at the target moment is determined from the candidate position; according to the reference position of the device to be positioned at the target moment, the target position of the device to be positioned is determined. Obtaining N candidate positions and screening the reference position from the N candidate positions based on the correlation requires a large computational overhead. The present application provides two strategies for obtaining candidate positions. In actual positioning, the appropriate strategy can be selected based on the positioning statistics data and the positioning error, which can improve the positioning accuracy while avoiding unnecessary computational overhead.

[0105] Figure 6 A schematic diagram of the structure of a positioning device provided in an embodiment of the present application.

[0106] like Figure 6 As shown, the device may include:

[0107] A first acquisition module 61 is used to acquire positioning measurement information between the device to be positioned and the anchor device at a target time;

[0108] A second acquisition module 62 is used to acquire a candidate position of the device to be located at a target time based on the positioning measurement information;

[0109] A first determination module 63, configured to determine a reference position of the device to be located at a target time from the candidate positions based on a correlation between the candidate positions and the reference position of the device to be located at a first time, wherein the first time is before the target time;

[0110] The second determining module 64 is used to determine the target position of the device to be located according to the reference position of the device to be located at the target time.

[0111] Further, in an implementation of the embodiment of the present application, the positioning measurement information includes a speed measurement result of the device to be positioned relative to the anchor device at the target time, and the first determination module 63 is further used to:

[0112] For any reference position at the first moment, determine a position vector between the reference position and the candidate position at the target moment;

[0113] Based on the velocity measurement result, a velocity vector is determined;

[0114] Calculate the similarity between the position vector and the velocity vector to obtain the degree of correlation;

[0115] Based on the degree of correlation, a reference position is determined from the candidate positions.

[0116] In one implementation of the embodiment of the present application, the device further includes:

[0117] The storage model is used to store a reference position at a target moment, wherein the reference position at the target moment is used to locate the device to be located at a second moment, and the second moment is located after the target moment.

[0118] In one implementation of the embodiment of the present application, the device further includes:

[0119] A reading module, used for reading and obtaining a reference position of the device to be positioned at a first moment;

[0120] The reference position at the first moment is obtained by screening the candidate position at the first moment based on the correlation between the candidate position of the device to be positioned at the first moment and the reference position of the device to be positioned before the first moment, or the reference position at the first moment is obtained by storing the reference position of the device to be positioned at the first moment.

[0121] In an implementation of the embodiment of the present application, the measurement information includes a distance measurement result between the device to be located and the anchor device, and the second acquisition module 62 is further used to:

[0122] Acquire positioning statistical data and a positioning error at a first moment, where the positioning statistical data is used to indicate at least one of the number of positioning times and the continuous positioning duration of the device to be positioned;

[0123] When the positioning statistical data and the positioning error meet the first set condition, based on the distance measurement result and the position of the anchor device, N candidate positions of the device to be positioned at the target time are obtained;

[0124] Among them, the first set condition includes at least one of the positioning statistical data being less than the set data threshold and the positioning error being greater than the set error threshold, the distance between the candidate position and the anchor device matches the distance measurement result, and N is a positive integer.

[0125] In an implementation of the embodiment of the present application, the second acquisition module 62 is further configured to:

[0126] On a circle with the position of the anchor device as the center and the distance measurement result as the radius, N candidate positions are obtained according to the set position selection rules.

[0127] In an implementation of the embodiment of the present application, the measurement information includes a speed measurement result of the device to be positioned and a distance measurement result between the device to be positioned and the anchor device, and the second acquisition module 62 is further used to:

[0128] Acquire positioning statistical data and a positioning error at a first moment, where the positioning statistical data is used to indicate at least one of the number of positioning times and the continuous positioning duration of the device to be positioned;

[0129] When the positioning statistical data and the positioning error meet the second set condition, the position is solved based on the speed measurement result and the distance measurement result to obtain the candidate position of the device to be positioned at the target time;

[0130] The second set condition includes at least one of the positioning statistical data being greater than or equal to a set data threshold and the positioning error being less than or equal to a set error threshold.

[0131] In an implementation of the embodiment of the present application, the second acquisition module 62 is further used to:

[0132] Based on the speed measurement results and the distance measurement results, determine the arrival angle corresponding to the device to be located;

[0133] Based on the speed measurement result, determine the angle between the moving direction of the device to be positioned and the set direction;

[0134] Based on the distance measurement results, arrival angle and included angle, the position is solved by trigonometric functions to obtain the candidate position of the device to be located at the target time.

[0135] In an implementation of the embodiment of the present application, the second determining module 64 is further configured to:

[0136] Based on the degree of correlation, a target reference position is obtained from the reference position at the target moment;

[0137] Obtain the target position of the device to be positioned at the first moment;

[0138] Based on the positioning measurement information, the target reference position and the target position at the first moment, the target position of the device to be positioned is determined by setting a filtering algorithm.

[0139] It should be noted that the above explanation of the method embodiment is also applicable to the device of this embodiment, and will not be repeated here.

[0140] The positioning device proposed in the embodiment of the present application obtains the positioning measurement information between the device to be positioned and the anchor device at the target moment; based on the positioning measurement information, obtains the candidate position of the device to be positioned at the target moment; based on the correlation between the candidate position and the reference position of the device to be positioned at the first moment, determines the reference position of the device to be positioned at the target moment from the candidate position, wherein the first moment is before the target moment; determines the target position of the device to be positioned according to the reference position of the device to be positioned at the target moment. By comparing the correlation between the candidate position and the reference position at the first moment, the candidate position that is more consistent with the moving trajectory of the device to be positioned can be screened out, and the position that is obviously deviated or unreasonable can be excluded, thereby locating the device to be positioned according to the reference position at the target moment with a higher accuracy.

[0141] In order to implement the above embodiments, the present application also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method described in the above method embodiments is implemented.

[0142] In order to implement the above-mentioned embodiments, the embodiments of the present application further provide a chip, including a processing circuit, wherein the processing circuit is used to implement the method described in the above-mentioned method embodiments when executed.

[0143] In order to implement the above embodiments, the present application also proposes a non-temporary computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in the above method embodiments is implemented.

[0144] In order to implement the above embodiments, the present application also proposes a computer program product on which a computer program is stored. When the computer program is executed by a processor, the method described in the above method embodiments is implemented.

[0145] Figure 7 This is a block diagram of an electronic device provided in an embodiment of the present application. For example, the electronic device 700 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0146] Reference Figure 7 , the electronic device 700 may include one or more of the following components: a processing component 702 , a memory 704 , a power component 706 , a multimedia component 708 , an audio component 710 , an input / output (I / O) interface 712 , a sensor component 714 , and a communication component 716 .

[0147] The processing component 702 generally controls the overall operation of the electronic device 700, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 702 may include one or more processors 720 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 702 may include one or more modules to facilitate the interaction between the processing component 702 and other components. For example, the processing component 702 may include a multimedia module to facilitate the interaction between the multimedia component 708 and the processing component 702.

[0148] The memory 704 is configured to store various types of data to support operations on the electronic device 700. Examples of such data include instructions for any application or method operating on the electronic device 700, contact data, phone book data, messages, pictures, videos, etc. The memory 704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0149] The power component 706 provides power to the various components of the electronic device 700. The power component 706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 700.

[0150] The multimedia component 708 includes a screen that provides an output interface between the electronic device 700 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 708 includes a front camera and / or a rear camera. When the electronic device 700 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0151] The audio component 710 is configured to output and / or input audio signals. For example, the audio component 710 includes a microphone (MIC), and when the electronic device 700 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 704 or sent via the communication component 716. In some embodiments, the audio component 710 also includes a speaker for outputting audio signals.

[0152] I / O interface 712 provides an interface between processing component 702 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0153] The sensor assembly 714 includes one or more sensors for providing various aspects of status assessment for the electronic device 700. For example, the sensor assembly 714 can detect the open / closed state of the electronic device 700, the relative positioning of components, such as the display and keypad of the electronic device 700, and the sensor assembly 714 can also detect the position change of the electronic device 700 or a component of the electronic device 700, the presence or absence of user contact with the electronic device 700, the orientation or acceleration / deceleration of the electronic device 700, and the temperature change of the electronic device 700. The sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 714 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 714 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0154] The communication component 716 is configured to facilitate wired or wireless communication between the electronic device 700 and other devices. The electronic device 700 can access a wireless network based on a communication standard, such as WiFi, 4G or 5G, or a combination thereof. In an exemplary embodiment, the communication component 716 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 716 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0155] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above methods.

[0156] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 704 including instructions, and the instructions can be executed by a processor 720 of an electronic device 700 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0157] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0158] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0159] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0160] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0161] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0162] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0163] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0164] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A positioning method, characterized in that: include: Obtaining the positioning measurement information between the device to be positioned and the anchor device at the target time; Based on the positioning measurement information, obtaining a candidate position of the device to be positioned at the target time; Determine, from the candidate positions, a reference position of the device to be positioned at the target time based on a correlation between the candidate positions and a reference position of the device to be positioned at a first time, wherein the first time is before the target time; The target position of the device to be positioned is determined according to the reference position of the device to be positioned at the target time.

2. The method according to claim 1, characterized in that The positioning measurement information includes a speed measurement result of the device to be positioned relative to the anchor device at the target moment, and determining the reference position of the device to be positioned at the target moment from the candidate positions based on the correlation between the candidate positions and the reference position of the device to be positioned at the first moment includes: For any reference position at the first moment, determine a position vector between the reference position and the candidate position at the target moment; determining a velocity vector based on the velocity measurement result; Performing similarity calculation on the position vector and the velocity vector to obtain the correlation degree; Based on the degree of correlation, the reference position is determined from the candidate positions.

3. The method according to claim 1 or 2, characterized in that The method further comprises: The reference position of the target moment is stored, wherein the reference position of the target moment is used to locate the device to be located at a second moment, and the second moment is located after the target moment.

4. The method according to claim 1 or 2, characterized in that: The method further comprises: Reading and obtaining a reference position of the device to be positioned at a first moment; The reference position at the first moment is obtained by screening the candidate position at the first moment based on the correlation between the candidate position of the device to be positioned at the first moment and the reference position of the device to be positioned before the first moment, or the reference position at the first moment is obtained by storing the reference position of the device to be positioned at the first moment.

5. The method according to claim 1, characterized in that The measurement information includes a distance measurement result between the device to be located and the anchor device, and acquiring a candidate position of the device to be located at the target time based on the positioning measurement information includes: Acquire positioning statistical data and a positioning error at a first moment, wherein the positioning statistical data is used to indicate at least one of the number of positioning operations and the duration of continuous positioning of the device to be positioned; When the positioning statistical data and the positioning error meet a first set condition, based on the distance measurement result and the position of the anchor device, obtaining N candidate positions of the device to be positioned at the target time; The first set condition includes at least one of the positioning statistical data being less than a set data threshold and the positioning error being greater than a set error threshold, the distance between the candidate position and the anchor device matches the distance measurement result, and N is a positive integer.

6. The method according to claim 5, characterized in that The acquiring, based on the distance measurement result and the position of the anchor device, the N candidate positions of the device to be positioned at the target time, includes: On a circle with the position of the anchor device as the center and the distance measurement result as the radius, the N candidate positions are obtained according to a set position selection rule.

7. The method according to claim 1, characterized in that The measurement information includes a speed measurement result of the device to be located and a distance measurement result between the device to be located and the anchor device. The acquiring, based on the positioning measurement information, a candidate position of the device to be located at the target time includes: Acquire positioning statistical data and a positioning error at a first moment, wherein the positioning statistical data is used to indicate at least one of the number of positioning operations and the duration of continuous positioning of the device to be positioned; When the positioning statistical data and the positioning error meet a second set condition, performing a position solution based on the speed measurement result and the distance measurement result to obtain a candidate position of the device to be positioned at the target time; The second set condition includes at least one of the following: the positioning statistical data is greater than or equal to a set data threshold and the positioning error is less than or equal to a set error threshold.

8. The method according to claim 7, characterized in that The performing position solving based on the speed measurement result and the distance measurement result to obtain the candidate position of the device to be located at the target time includes: Determine an arrival angle corresponding to the device to be located based on the speed measurement result and the distance measurement result; Based on the speed measurement result, determining the angle between the moving direction of the device to be positioned and the set direction; Based on the distance measurement result, the arrival angle and the included angle, a position solution is performed through trigonometric functions to obtain a candidate position of the device to be located at the target time.

9. The method according to any one of claims 1 to 8, characterized in that: The step of determining the target position of the device to be located according to the reference position of the device to be located at the target time comprises: Based on the correlation degree, obtaining a target reference position from the reference positions at the target moment; Acquire the target position of the device to be located at the first moment; Based on the positioning measurement information, the target reference position and the target position at the first moment, a filtering algorithm is set to determine the target position of the device to be positioned.

10. A positioning device, characterized in that: include: A first acquisition module is used to acquire positioning measurement information between the device to be positioned and the anchor device at a target time; A second acquisition module, configured to acquire a candidate position of the device to be located at the target time based on the positioning measurement information; A first determination module, configured to determine a reference position of the device to be located at the target time from the candidate positions based on a correlation between the candidate positions and a reference position of the device to be located at a first time, wherein the first time is before the target time; The second determining module is used to determine the target position of the device to be located according to the reference position of the device to be located at the target time.

11. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Implement the steps of the method according to any one of claims 1 to 9.

12. A chip, characterized in that: The method comprises a processing circuit, wherein the processing circuit is configured to implement the method according to any one of claims 1 to 9 when executed.

13. A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of a mobile terminal, enables an electronic device to perform the steps of the method according to any one of claims 1 to 9.

14. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 9.

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